updated: add branch switching (#25200)

* switch param

* add to ui

* fix that

* fetch for new branch

Co-authored-by: Comma Device <device@comma.ai>

common/params.cc

@@ -126,6 +126,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"IsOnroad", PERSISTENT},
     {"IsRHD", PERSISTENT},
     {"IsTakingSnapshot", CLEAR_ON_MANAGER_START},
+    {"IsTestedBranch", CLEAR_ON_MANAGER_START},
     {"IsUpdateAvailable", CLEAR_ON_MANAGER_START},
     {"JoystickDebugMode", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"LaikadEphemeris", PERSISTENT | DONT_LOG},
@@ -154,6 +155,7 @@ std::unordered_map<std::string, uint32_t> keys = {
     {"SnoozeUpdate", CLEAR_ON_MANAGER_START | CLEAR_ON_IGNITION_OFF},
     {"SshEnabled", PERSISTENT},
     {"SubscriberInfo", PERSISTENT},
+    {"SwitchToBranch", CLEAR_ON_MANAGER_START},
     {"TermsVersion", PERSISTENT},
     {"Timezone", PERSISTENT},
     {"TrainingVersion", PERSISTENT},

selfdrive/manager/manager.py

@@ -20,7 +20,7 @@ from selfdrive.manager.process_config import managed_processes
 from selfdrive.athena.registration import register, UNREGISTERED_DONGLE_ID
 from system.swaglog import cloudlog, add_file_handler
 from system.version import is_dirty, get_commit, get_version, get_origin, get_short_branch, \
-                              terms_version, training_version
+                              terms_version, training_version, is_tested_branch
 
 
 sys.path.append(os.path.join(BASEDIR, "pyextra"))
@@ -78,6 +78,7 @@ def manager_init() -> None:
   params.put("GitCommit", get_commit(default=""))
   params.put("GitBranch", get_short_branch(default=""))
   params.put("GitRemote", get_origin(default=""))
+  params.put_bool("IsTestedBranch", is_tested_branch())
 
   # set dongle id
   reg_res = register(show_spinner=True)

selfdrive/ui/qt/offroad/settings.cc

@@ -24,6 +24,7 @@
 #include "selfdrive/ui/ui.h"
 #include "selfdrive/ui/qt/util.h"
 #include "selfdrive/ui/qt/qt_window.h"
+#include "selfdrive/ui/qt/widgets/input.h"
 
 TogglesPanel::TogglesPanel(SettingsWindow *parent) : ListWidget(parent) {
   // param, title, desc, icon
@@ -253,7 +254,19 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
     }
     std::system("pkill -1 -f selfdrive.updated");
   });
+  connect(uiState(), &UIState::offroadTransition, updateBtn, &QPushButton::setEnabled);
 
+  branchSwitcherBtn = new ButtonControl(tr("Switch Branch"), tr("ENTER"));
+  connect(branchSwitcherBtn, &ButtonControl::clicked, [=]() {
+    QString branch = InputDialog::getText(tr("Enter name of new branch"), this);
+    if (branch.isEmpty()) {
+      params.remove("SwitchToBranch");
+    } else {
+      params.put("SwitchToBranch", branch.toStdString());
+    }
+    std::system("pkill -1 -f selfdrive.updated");
+  });
+  connect(uiState(), &UIState::offroadTransition, branchSwitcherBtn, &QPushButton::setEnabled);
 
   auto uninstallBtn = new ButtonControl(tr("Uninstall %1").arg(getBrand()), tr("UNINSTALL"));
   connect(uninstallBtn, &ButtonControl::clicked, [&]() {
@@ -263,8 +276,11 @@ SoftwarePanel::SoftwarePanel(QWidget* parent) : ListWidget(parent) {
   });
   connect(uiState(), &UIState::offroadTransition, uninstallBtn, &QPushButton::setEnabled);
 
-  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
+  QWidget *widgets[] = {versionLbl, lastUpdateLbl, updateBtn, branchSwitcherBtn, gitBranchLbl, gitCommitLbl, osVersionLbl, uninstallBtn};
   for (QWidget* w : widgets) {
+    if (w == branchSwitcherBtn && params.getBool("IsTestedBranch")) {
+      continue;
+    }
     addItem(w);
   }
 

selfdrive/ui/qt/offroad/settings.h

@@ -71,6 +71,7 @@ private:
   LabelControl *versionLbl;
   LabelControl *lastUpdateLbl;
   ButtonControl *updateBtn;
+  ButtonControl *branchSwitcherBtn;
 
   Params params;
   QFileSystemWatcher *fs_watch;

selfdrive/updated.py

@@ -311,21 +311,29 @@ def fetch_update(wait_helper: WaitTimeHelper) -> bool:
 
   cur_hash = run(["git", "rev-parse", "HEAD"], OVERLAY_MERGED).rstrip()
   upstream_hash = run(["git", "rev-parse", "@{u}"], OVERLAY_MERGED).rstrip()
-  new_version: bool = cur_hash != upstream_hash
+  new_version = cur_hash != upstream_hash
   git_fetch_result = check_git_fetch_result(git_fetch_output)
 
+  new_branch = Params().get("SwitchToBranch", encoding='utf8')
+  if new_branch is not None:
+    new_version = True
+
   cloudlog.info(f"comparing {cur_hash} to {upstream_hash}")
   if new_version or git_fetch_result:
     cloudlog.info("Running update")
 
     if new_version:
       cloudlog.info("git reset in progress")
-      r = [
-        run(["git", "reset", "--hard", "@{u}"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "clean", "-xdf"], OVERLAY_MERGED, low_priority=True ),
-        run(["git", "submodule", "init"], OVERLAY_MERGED, low_priority=True),
-        run(["git", "submodule", "update"], OVERLAY_MERGED, low_priority=True),
+      cmds = [
+        ["git", "reset", "--hard", "@{u}"],
+        ["git", "clean", "-xdf"],
+        ["git", "submodule", "init"],
+        ["git", "submodule", "update"],
       ]
+      if new_branch is not None:
+        cloudlog.info(f"switching to branch {repr(new_branch)}")
+        cmds.insert(0, ["git", "checkout", "-f", new_branch])
+      r = [run(cmd, OVERLAY_MERGED, low_priority=True) for cmd in cmds]
       cloudlog.info("git reset success: %s", '\n'.join(r))
 
       if AGNOS: